Jireh Skoot User Manual

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DN0047 Rev 04.2 Motorized Scanner

PAGE i

DN0047 Rev 04.2

SAFETY WARNINGS / PRECAUTIONS

DANGER! The SKOOT is designed for a specic use. Using the

SKOOT outside of its intended use is dangerous. Failure to comply with

the warnings, instructions, and specications in this manual could result in SEVERE INJURY or DEATH. Read and understand this manual before using.

KEEP THIS MANUAL – DO NOT LOSE

THIS MANUAL IS PART OF THE SKOOT SYSTEM AND MUST BE RETAINED FOR THE

LIFE OF THE PRODUCT. PASS ON TO SUBSEQUENT OWNERS.

Ensure any amendments are incorporated with this document.

DANGER! FALLING OBJECT HAZARD. The area below a

crawler must be kept clear at all times. A clearly marked NO ENTRY ZONE must be cordoned off directly below the area of crawler operation.

(see No Entry Fall Zone on page 8 for additional details)

DANGER! Do NOT operate or place crawler on a surface higher

than 2 m (6 ft) without a proper tether held taut at all times.

(see Tether Requirements and Attachment on page 9 for additional details)

DANGER! ELECTRICAL CORDS CAN BE HAZARDOUS. Misuse

can result in FIRE or DEATH by ELECTRICAL SHOCK. Inspect thoroughly before each use. Do NOT use if damaged. Do NOT use when wet. Keep away from water. Do NOT drive, drag or place objects over

cord.

WARNING! Do NOT operate scanner in an explosive

environment. Do NOT operate scanner in the presence of volatile substances.

PAGE ii

WARNING! LASER RADIATION. Do not view directly with

optical instruments. Class 1M laser product.

WARNING! MAGNETIC MATERIAL. The wheels of the crawler

produce an extremely strong magnetic eld which may cause failure or permanent damage to items such as watches, memory devices, CRT monitors, medical devices or other electronics.

Tools, magnets and metal objects can cut, pinch or entrap hands and ngers. HANDLE WITH CARE.

People with pacemakers or ICD’s must stay at least 25 cm (10 in) away.

The magnetic base (Fig. 140 on page 61) of the raster arm cable tray contains magnetic material. People with pacemakers or ICD’s must stay at least 10 cm (4 in) away.

WARNING! MAGNETIC MATERIAL. The installation/removal

mat (Fig. 22 on page 11) contains magnetic material. People with pacemakers or ICD’s must stay at least 10 cm (4 in) away.

CAUTION! Pinch points exist with this product. Keep ngers and

hands clear of pinch points.

CAUTION! Do not disconnect under load. Shut off power before

connection or disconnecting. Permanent damage to electronics could occur.

CAUTION! DO NOT operate the SKOOT crawler on an inspection

surface which is electrically connected to a component that is being welded.

PAGE iii

DN0047 Rev 04.2

The WEEE symbol indicates that the product must not be disposed of as

unsorted municipal waste, but should be collected separately.

(see Disposal on page 109 for additional details).

DISTRIBUTOR:

Jireh Industries Ltd.

53158 Range Road 224

Ardrossan, Alberta, Canada T8E 2K4

Phone: (780) 922-4534 Fax: (780) 922-5766

jireh-industries.com

MANUFACTURER:

NOTE: The above safety warnings highlighted in white are labelled on the products.

Emergency Stop. This symbol indicates emergency stop button.

PAGE iv

Chapter

Introduction 1

1.1. Product Information 1

1.1.1. Intended use 1

1.1.2. Unintended Use 2

1.2. Regulations 2

1.2.1. European Union CE Declaration 2

1.2.2. FCC 3

1.2.3. Industry Canada 3

1.3. Intended User 3

1.4. Crawler Weight 4

1.5. Crawler Dimensions 4

1.6. Scanner Operation Speciﬁcations 4

1.7. Performance speciﬁcations 5

1.8. Power Requirements 5

1.9. Encoder Interface Speciﬁcations 6

1.10. Operating Environment 6

1.11. Deﬁnition of symbols 6

1.12. Included Tools 7

1.12.1. Optional tools 7

Chapter

Preparation for Use 8

2.1. Transportation 8

2.2. No Entry Fall Zone 8

2.3. Tether Requirements and Attachment 9

2.3.1. Lifting Sling Setup 10

2.4. Preparation of Inspection Surface 10

2.5. Scanner Component Identiﬁcation 11

Chapter

Conﬁgurations 13

3.1. Crawler with Raster Arm Module 13

3.2. Crawler with Probe Holder Frame 15

TABLE OF CONTENTS

PAGE v

DN0047 Rev 04.2

Chapter

Operation 17

4.1. System Startup 17

4.2. Placement of Crawler on Inspection Surface 19

4.3. Operation 21

4.3.1. Handheld Controller Layout 21

4.3.1.1 Touchscreen 22

4.3.1.2 Click Wheel 22

4.3.1.3 Joysticks 22

4.3.2. Main Mode Selection Screen 22

4.3.3. Jog Mode 23

4.3.4. Latched Jog Mode 25

4.3.5. Two Axis Scan Mode 25

4.3.5.1 Two Axis Scan Setup Screen 26

4.3.5.2 Scan Speeds Screen 27

4.3.5.3 Two Axis Scan Screen 28

4.3.6. System Utilities Screen 30

4.3.6.1 User Settings Screen 30

4.3.6.2 Diagnostics Screens 31

4.3.6.2.1. Detected Modules 32

4.3.6.2.2. System 1 32

4.3.6.2.3. System 2 33

4.3.6.2.4. System 3 33

4.3.6.2.5. Skoot-L, Raster 34

4.3.6.3 Touch Calibration Screen 35

4.3.6.4 Joystick Calibration Screen 35

4.3.6.5 Draw 36

Chapter

System Components 37

5.1. Handheld Controller 37

5.2. Crawler 38

5.2.1. Swivel Mount 39

5.2.2. Umbilical 40

5.2.3. Handle 40

5.2.4. Emergency Off Button 41

5.2.5. Cable Retainer 41

5.2.6. Manipulation Handle 42

5.3. Backpack 43

5.3.1. Mounting a Backpack 43

5.3.2. Using the backpack 44

PAGE vi

5.4. Raster Arm Module 45

5.4.1. Mounting a Raster Arm 46

5.4.2. Attaching a Cable Tray 47

5.4.3. Using the Cable Tray 48

5.4.4. Raster Arm Cable Setup 50

5.5. Probe Holder Attachments 52

5.5.1. HydroFORM™ Probe Holder 52

5.5.2. Heavy Duty Vertical Probe Holder 52

5.5.2.1 Probe Holder Setup 53

5.5.2.2 Probe Holder Vertical Adjustment 54

5.5.2.3 Probe Holder Left/Right Conversion 55

5.5.2.4 Probe Holder 90° Adjustment 56

5.5.3. Corrosion Thickness Probe Holder 57

5.5.4. Two Probe Raster Arm 58

5.5.5. Pivoting the Raster Arm 59

5.5.6. Pivot Nose 59

5.5.7. Lowering Probe Holder to Scan Surface 60

5.5.8. Switching the Raster Arm Orientation 60

5.5.9. Raster Arm Cable 66

5.6. Battery Powered Laser Guide 67

5.7. Power Controller 68

5.8. Controller Cable 70

5.9. Encoder Cable 70

5.10. Vertical Probe Holder 71

5.10.1. Probe Holder Setup 71

5.10.2. Probe Holder Vertical Adjustment 72

5.10.3. Probe Holder Transverse Adjustment 73

5.10.4. Probe Holder Longitudinal Adjustment 74

5.10.5. Probe Holder Left/Right Conversion 75

5.11. Slip Joint Probe Holder 77

5.11.1. Probe Holder Setup 77

5.11.2. Probe Holder Adjustment 79

5.11.3. Probe Holder Force Adjustment 79

5.11.4. Slip Joint Probe Holder Left/Right Conversion 81

5.12. Low Proﬁle Probe Holder Frame 83

5.12.1. Low Proﬁle Probe Holder Frame Setup 83

5.13. Probe Holder Frame 86

5.13.1. Probe Holder Frame Setup 87

5.14. Pivoting Probe Holder Frame 90

5.14.1. Mounting a Pivoting Probe Holder Frame 91

5.14.2. Pivoting Probe Holder Frame Setup 92

PAGE vii

DN0047 Rev 04.2

5.14.2.1 Longitudinal Scanning 92

5.14.2.2 Circumferential Scanning 93

5.14.2.3 Flange Scanning 94

5.14.3. Laser Guide Pivot Mount 97

5.15. Cable Management 98

5.15.1. Mounting a Zipper Tube 98

5.15.2. Zipper Tube Setup 98

5.15.3. Clamp Setup 99

5.16. Pre-Amp Bracket 100

Chapter

Maintenance 101

6.1. Safety Precautions Before Maintenance 101

6.2. Maintenance Schedule 101

Chapter

Troubleshooting 103

7.1. Startup Issues 103

7.1.1. Joystick Off Center 103

7.1.2. Checking Network 103

7.2. Startup Override 104

7.2.1. Scan Devices 105

7.2.2. Reset Parameters 106

7.2.3. System Parameters 106

7.2.4. Device Address 106

7.3. Additional Issues 107

7.4. Retrieval of a Stranded Crawler 108

Chapter

Service and Repair 109

8.1. Technical Support 109

8.2. Disposal 109

Chapter

Spare Parts 110

9.1. Skoot Crawler 110

9.2. Skoot Kit Components 111

9.3. Raster Arm Module 112

9.3.1. Mounting Rail 113

9.3.2. Cable Tray 113

9.4. Probe Holder Frame 114

9.5. Low Proﬁle Probe Holder Frame 115

9.6. Pivoting Probe Holder Frame 116

PAGE viii

9.7. Slip Joint Probe Holder Parts 117

9.8. Vertical Probe Holder Parts 118

9.9. Heavy Duty Vertical Probe Holder 119

9.10. Corrosion Thickness Probe Holder 120

9.11. HydroFORM™ Probe Holder 121

9.12. Probe Holder Components 122

9.12.1. Arm Style 122

9.12.2. Yoke Style 122

9.12.3. Heavy Duty Yoke Style 122

9.12.4. Pivot Button Style 122

9.13. Variable Components 123

9.13.1. Frame Bar 123

9.13.2. Zipper Tube Length 123

9.14. Encoder Connector Type 123

Chapter

Limited Warranty 124

PAGE 1

DN0047 Rev 04.2

CHAPTER 1

INTRODUCTION

1.1. Product Information

1.1.1. Intended use

The SKOOT is a remotely operated vehicle with magnetic wheels suitable for driving on ferrous material. Its primary purpose is to move inspection equipment over areas of structures, such as tanks or pipes, made from ferrous materials in industrial environments.

The intended ferrous surface is to:

►

be bare metal for up-side-down surfaces, or

►

be coated to a thickness no greater than:

►

0.5 mm (.02 in) for vertical surfaces

►

1 mm (.04 in) for horizontal surfaces on which the crawler is right-side-up

►

be free of excess rust, scale, ferrous debris, ice, frost

►

have a minimum thickness of 3 mm (0.12 in)

►

have a minimum ID of 610 mm (24 in) for internal circumferential driving

►

have a minimum OD of 65 mm (2.5 in) for external circumferential driving

►

have a minimum OD of 760 mm (30 in) for longitudinal driving

The SKOOT is intended to:

►

be used by trained personnel (see “Intended User” on page 3).

►

operate in an appropriate environment (see “Operating Environment” on

page 6)

►

operate with a proper tether system (see “Tether Requirements and

Attachment” on page 9)

The SKOOT backpack is intended to mount objects that:

►

have a maximum weight of 1.36 kg (3 lb)

►

are attached to the SKOOT via a tether or probe cables strong enough to prevent the object from falling

►

have smooth edges so as not to cut backpack strap

PAGE 2

1.1.2. Unintended Use

The SKOOT is NOT intended for:

►

Unattended use

►

operation on surfaces that are not clean (e.g. excess rust, scale, ferrous

debris, ice, frost)

►

lifting / lowering objects or people (i.e. using the crawler as a crane / elevator)

►

driving over obstacles/obstructions (excluding standard butt welds)

►

operating in ambient temperatures below -20° C (-4° F) or above

50° C (122° F)

In addition to the preceding points, operating at a height greater than 2 m (6 ft), the crawler is not intended for:

►

operation without a proper tether system

►

operating up-side-down

►

operating while oriented such that the umbilical strain relief points upwards (front of the SKOOT is lower than the umbilical connection)

►

operating with objects mounted in backpack that have a weight greater than 1.36 kg (3 lb) or objects that are not attached to the SKOOT via a tether or probe cables, or objects with sharp edges

1.2. Regulations

1.2.1. European Union CE Declaration

Jireh Industries hereby declares that the Skoot product complies with the essential requirements and other relevant provisions of the following European Union directives:

2014/30/EC EMC Directive

2014/30/EC Low Voltage Directive

2012/19/EU Directive on Waste Electrical and Electronic Equipment

DANGER! FALLING OBJECT HAZARD.

Failure to comply with the warnings, instructions and specications in this manual could result in SEVERE INJURY or DEATH.

PAGE 3

DN0047 Rev 04.2

1.2.2. FCC

This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.

This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.

1.2.3. Industry Canada

CAN ICES-3 (A)/NMB-3(A)

This Class A digital apparatus complies with Canadian ICES-003.

Cet appareil numérique de la classe A est conforme à la norme NMB-003 du Canada.

1.3. Intended User

The SKOOT is intended to be used by persons who have read and understood this user manual.

For operating at a height greater than 2 m (6 ft), the SKOOT is intended to be used by two people:

►

a person who is trained in rigging and fall protection as well as able to effectively apply the same safety principals to the crawler

►

a person who is trained to control the crawler

The SKOOT is intended to be used by persons without limitations in the physical abilities of the upper and lower limbs, sight and hearing. The SKOOT should not be used by anyone with a pacemaker or ICD.

WARNING! MAGNETIC MATERIAL. The

SKOOT system can produce an extremely strong magnetic eld which may cause failure or permanent damage to items such as watches, memory devices, CRT monitors, medical devices or other electronics. People with pacemakers or ICD’s must stay at least 25 cm (10 in) away.

PAGE 4

1.4. Crawler Weight

Crawler weight* 7.3 kg 16 lb

Raster arm 300 mm (12 in) 2.45 kg 5.4 lb

Raster arm 600 mm (24 in) 3.36 kg 7.4 lb

Raster arm 900 mm (35 in) 4.04 kg 8.9 lb

Raster arm 1160 mm (45 in) 4.54 kg 10.0 lb

* Conguration excluding case, attachments, umbilical, manipulation handle, power

controller and handheld controller.

1.5. Crawler Dimensions

1.6. Scanner Operation Specications

Scanner diameter range

External, circumferential scans: 63.5 mm (2.5 in) OD to Flat Internal, circumferential scans: 686 mm (27.01 in) ID to Flat External, longitudinal scans: 762 mm (30 in) OD to Flat

Motor encoder 1354 counts/mm (34394 counts/inch)

Raster arm module encoder

240.2 counts/mm (6100.9 counts/inch)

Environmental sealing

Dust tight, water tight (not submersible)

WARNING! LIFTING HAZARD. The SKOOT

can be heavy. Single person lift could cause injury. Two person lift recommended.

Fig. 1 - Length and height

16.10 cm

(6.34 in)

11.21 cm

(4.41 in)

55.97 cm

(22.04 in)

21.77 cm

(8.57 in)

14.86 cm

(5.85 in)

20.78 cm

(8.18 in)

13.43 cm

(5.29 in)

2.17 cm

(0.855 in)

Fig. 2 - Width

PAGE 5

DN0047 Rev 04.2

Required radial clearance*

101.32 mm (3.989 in) on pipes under 200 mm (8 in) OD and

110.26 mm (4.341 in) on pipes over 200 mm (8 in) OD

* With backpack and manipulation handle removed, using slip joint probe holders only.

1.7. Performance specications

Maximum vertical payload:* 9 kg 20 lb

Maximum travel speed 0.5 - 14.2 cm/sec 0.2 - 5.6 in/sec

Raster arm module speed** 0.5 - 76.2 cm/sec 0.2 - 30 in/sec

*Performance may vary with surface type. Umbilical and attachments are considered payload.

**Heavy payloads may require reduced speeds.

1.8. Power Requirements

Power Requirements: 100-240VAC, 50/60Hz, 1.4 Amps

NOTE: The SKOOT power controller automatically adjusts to the supplied voltage.

WARNING! A reliable power source must be

used to power the crawler. Connections must be secured to prevent accidental disconnection. Power failure may cause the crawler to freewheel down when operating in a vertical orientation. Portable generator usage is not recommended unless accompanied by the use of an uninterruptible power controller.

WARNING! Proper grounding of the power

controller is important for safe operation. When a generator is used to supply power to the system

(not recommended), the generator must be properly

grounded (refer to generator manual).

CAUTION! Do not disconnect under load.

Shut off power before connection or disconnecting. Permanent damage to electronics could occur.

PAGE 6

1.9. Encoder Interface Specications

Output type: 4 channel quadrature 5VDC RS422 compatible.

Power: Power must be supplied to the interface.

5VDC +/-10% power limited to < 15w.

1.10. Operating Environment

The SKOOT is designed for operation in ambient temperatures between

-20° C (-4° F) and 50° C (122° F).

1.11. Denition of symbols

Instructions to ‘look here’ or to ‘see this part’.

Denotes movement. Instructing user to carry out

action in a specied direction.

Indicates alignment axis.

Alerts user that view has changed to a reverse angle.

Enc +5V

Enc A

Enc A’

Enc B

Enc B’

Enc Com

Aux Enc A’

Auc Enc B

Aux Enc B’

Shield

Aux Enc A

3 4

1 2

Fig. 3 - Jireh Industries pin out conguration

PAGE 7

DN0047 Rev 04.2

1.12. Included Tools

The included 3 mm hex driver (Fig. 4) is suitable for typical SKOOT and probe holder adjustments.

A 3/8 in wrench (Fig. 5) is provided to remove and install probe holder buttons.

The included 3 mm at driver (Fig. 6) is useful for releasing the aps of the raster

arm’s cable tray.

1.12.1. Optional tools

Some specialized adjustments require tools that are not included with this kit.

Fig. 4 - 3 mm hex driver

Fig. 5 - 3/8” wrench

Fig. 6 - 3 mm at driver

Fig. 7 - 1.5 mm

hex wrench

Fig. 8 - 2 mm

hex wrench

Fig. 9 - 2.5 mm

hex wrench

Fig. 10 - 3 mm

hex wrench

PAGE 8

CHAPTER 2

PREPARATION FOR USE

2.1. Transportation

2.2. No Entry Fall Zone

The area below a crawler must be kept clear at all times. A clearly marked NO ENTRY FALL ZONE must be cordoned off directly below the area of crawler

operation, according to the dimensions shown in (Fig. 11).

Example: If inspecting a tank that is 6 m (20 ft) tall, the No Entry Fall Zone radii must be no smaller than 3 m (10 ft) from the area below the area of crawler operation.

CAUTION! PINCH / CRUSH HAZARD. BE

CAREFUL when passing the SKOOT crawler through

narrow ferrous (magnetic) openings, such as man-holes. The magnetic drive wheels can cause bodily harm if allowed to slam onto the walls of the opening.

DANGER! FALLING OBJECT HAZARD.

The area below a crawler must be kept clear at all times. A clearly marked NO ENTRY FALL ZONE must be cordoned off directly below the area of crawler operation.

Area of crawler

operation

No Entry Fall Zone

Radius = H/2

(minimum)

Radius = H/2

(minimum)

Fig. 11 - No entry fall zone

PAGE 9

DN0047 Rev 04.2

2.3. Tether Requirements and Attachment

When used at a height greater than 2 m (6 ft), the SKOOT crawler MUST be tethered with a proper tether system to prevent the crawler from falling. The tether system must:

►

be capable of safely suspending the crawler from above in case the crawler detaches from the inspection surface;

►

have sufcient capacity to catch and hold a 70 kg (150 lb) load;

►

include a mechanism (i.e. self retracting inertia reel fall arrester) or person to continuously take up slack in the tether as the crawler moves;

►

include a lifting hook with a safety latch to prevent accidental disconnection. The hook must be free of sharp edges that may cut or abrade the provided lifting sling.

Before placing the crawler on the surface to be inspected (e.g. tank), attach the provided lifting sling to the SKOOT and then hook the tether hook to the lifting sling.

DANGER! FALLING OBJECT HAZARD.

Failure to comply with the warnings, instructions, and specications in this manual could result in

SEVERE INJURY or DEATH.

DANGER! Do NOT operate or place

crawler on a surface higher than 2 m (6 ft) without a proper tether held taut at all times.

DANGER! Hook the tether hook to

the provided lifting sling BEFORE placing the crawler on the surface to be inspected (e.g. tank). IMPORTANT: Tether hook must have a safety latch to prevent accidental disconnection.

CAUTION! The overhead attachment point

for the tether must be located as close as possible to a location directly above the crawler to minimize dangerous swinging of the crawler should it detach from the inspection surface.

PAGE 10

2.3.1. Lifting Sling Setup

Secure the lifting sling to the SKOOT as illustrated here:

1. Wrap the supplied lifting sling around the handle of the SKOOT using a choker

hold knot (Fig. 12) and (Fig. 13).

2. Ensure the lifting sling is attached correctly to the SKOOT and inspect the

lifting sling for any damage prior to use.

2.4. Preparation of Inspection Surface

►

Remove build-up of scale, and other debris (i.e. dirt, ice) from surface on which the crawler is to drive. Excessive build-up will cause the wheels to lose magnetic attraction which may lead to wheel slippage or crawler detachment.

►

Ensure that no obstructions (other than standard butt welds) or voids are in the drive path. Obstructions and voids could cause the crawler to fall if driven into or over.

►

Ensure that there are no patches of non-ferrous material in the drive path of the crawler. If the crawler drives over a non-ferrous patch, it will lose magnetic attraction and will cause the crawler to fall.

IMPORTANT! Carefully inspect the lifting

sling for damage prior to each use. Ensure the tether hook does not have sharp edges that may cut the lifting sling.

Fig. 12 - Attach the lifting sling with a choker hold Fig. 13 - Attach the lifting sling with a choker hold

CAUTION! Do NOT operate crawler on

surfaces where ice or frost may be present.

PAGE 11

DN0047 Rev 04.2

2.5. Scanner Component Identication

The SKOOT system may contain the following components (see System Components

on page 37 for additional details).

Fig. 14 - Skoot (crawler)

Fig. 15 - Backpack

Fig. 16 - Manipulation handle

Fig. 17 - Handheld controller

Fig. 18 - Encoder cable

Fig. 19 - Controller cable

Fig. 20 - Umbilical

Fig. 21 - Zipper tube

Fig. 22 - Installation/removal mat

Fig. 23 - Battery powered laser guide

Fig. 24 - Lifting sling Fig. 25 - Power controller

PAGE 12

Fig. 26 - HydroFORM™ probe holder

Fig. 27 - Raster arm

Fig. 28 - Corrosion thickness probe

holder

Fig. 29 - Low prole probe holder frame

Fig. 30 - Probe holder frame

Fig. 31 - Pivoting probe holder frame

Fig. 32 - Heavy Duty Probe Holder

PAGE 13

DN0047 Rev 04.2

CHAPTER 3

CONFIGURATIONS

3.1. Crawler with Raster Arm Module

Description BOM ID

Raster Arm 1 Crawler 2 Raster Cable 3 Umbilical 4 Controller Cable (alt) 5a Controller Cable (main) 5b

User’s Instrument 7 Encoder Cable 8 Handheld Controller 9

Power Controller 6

Fig. 33 - Raster arm conguration

PAGE 14

To congure the SKOOT system for scanning using a raster arm module, follow these steps (see Backpack on page 43 for additional details):

1. Connect the power controller (Fig. 33-6) to the crawler (Fig. 33-2) using the

umbilical (Fig. 33-4).

2. Connect the handheld controller (Fig. 33-9) to the power controller (Fig. 33-6)

using the controller cable (Fig. 33-5b).

NOTE: The handheld controller (Fig. 33-9) may also be connected directly to the

crawler (Fig. 33-5a).

3. Connect the instrument (Fig. 33-7) to the power controller (Fig. 33-6) using the

encoder cable (Fig. 33-8).

4. Mount the raster arm module (Fig. 33-1) to the crawler (Fig. 33-2) (see “Backpack”

on page 43).

5. Connect from the raster arm (Fig. 33-1) to the crawler (Fig. 33-2) using the raster

arm cable (Fig. 33-3) (see “Raster Arm Cable Setup” on page 50).

CAUTION! Do not disconnect under load.

Shut off power before connection or disconnecting. Permanent damage to electronics could occur.

PAGE 15

DN0047 Rev 04.2

3.2. Crawler with Probe Holder Frame

Description BOM ID

Probe Holder Frame 1 Crawler 2 Umbilical 3 Power Controller 4 Controller Cable

(alt)

Controller Cable

(main)

Encoder Cable 7 Handheld Controller 8

User’s Instrument 6

Fig. 34 - Probe holder frame conguration

PAGE 16

To congure the SKOOT system for scanning using a probe holder frame, follow these steps (see “Probe Holder Frame” on page 86):

1. Connect the power controller (Fig. 34-4) to the umbilical (Fig. 34-3).

2. Connect the umbilical (Fig. 34-3) to crawler (Fig. 34-2).

3. Connect the handheld controller (Fig. 34-8) to the power controller (Fig. 34-4)

using the controller cable (Fig. 34-5b).

NOTE: The handheld controller (Fig. 34-8) may also be connected directly to the

crawler (Fig. 34-5a).

4. Connect the instrument (Fig. 34-6) to the power controller (Fig. 34-4) using the

encoder cable (Fig. 34-7).

5. Mount a congured probe holder frame (Fig. 34-1) (see “Probe Holder Frame” on

page 86) to the crawler (Fig. 34-2) (see “Swivel Mount” on page 39).

CAUTION! Do not disconnect under load.

Shut off power before connection or disconnecting. Permanent damage to electronics could occur.

PAGE 17

DN0047 Rev 04.2

CHAPTER 4

OPERATION

4.1. System Startup

To activate the system, follow these steps:

1. Plug-in the power controller to the appropriate power source (see “Power

Requirements” on page 5).

2. Connect the components (see “Congurations” on page 13)

3. Locate the red emergency stop push-button (Fig. 35-1) on the power controller.

Rotate this button clockwise to unlatch.

4. The green push-button (Fig. 35-2) on the power controller activates the system.

Fig. 35 - Power controller

Fig. 36 - Handheld controller

SEVERE INJURY OR DEATH

HAZARD. READ AND

UNDERSTAND USER MANUAL

AND HEED ALL WARNINGS.

*** DANGER ***

PAGE 18

5. A warning message will display on the handheld controller when power has

been activated (Fig. 37). Once the dangers of using the SKOOT are recognized and understood by reading this user manual, touch Ok to acknowledge the warning.

6. A second warning message (Fig. 37) will display requesting assurance that a

No Entry Fall Zone has been established (see “No Entry Fall Zone” on page 8) and tether requirements are met (see “Tether Requirements and Attachment” on

page 9). Acknowledge this warning by touching Ye s .

7. The system will now check for attached components and adjust accordingly.

When a raster arm is detected, a warning will appear indicating the carriage must move to the home position (Fig. 38). Ensure the raster arm and carriage are free of interference. If an obstruction is present, touch Disable . The raster arm will be disabled until the system is restarted.

While the raster arm is performing the homing procedure, the Homing Raster screen will be displayed.

Once the system is initialized, the Jog Mode screen will appear (see “Jog Mode” on

page 23). The system is now ready for operation.

Yes

HAVE YOU IMPLEMENTED

FALLING OBJECT

SAFEGUARDING AS PER

USER MANUAL?

*** DANGER ***

Fig. 37 - Falling object warning

OkDisable

Warning: Raster must

move to home position.

Fig. 38 - Raster homing

PAGE 19

DN0047 Rev 04.2

4.2. Placement of Crawler on Inspection Surface

To place the crawler on the inspection surface, follow these steps:

NOTE: The manufacturer recommends two persons install the crawler on an inspection

surface. One person to lower the crawler to the scan surface and one person to operate the crawler via the handheld controller.

1. Once crawler preparation is complete (see “Preparation for Use” on page 8)

and system startup has been performed (see “System Startup” on page 17), raise the front swivel mounts to ensure they will not hinder the wheels from contacting the inspection surface (see “Swivel Mount” on page 39). Release the front swivel adjustment levers (Fig. 39), located at the front of the crawler, to position the front swivel mount.

IMPORTANT! To place the crawler on the

inspection surface, use the scanner installation/removal mat (Fig. 22) as a spacer between the wheels and the surface on which the crawler is to drive. This is necessary to protect the electronic components within the crawler from damaging shock, should the crawler be slammed directly onto the surface.

CAUTION! Do NOT handle crawler using the

umbilical cable. Use the provided handle.

Fig. 39 - Front swivel adjustment levers

PAGE 20

2. Set the crawler to Jog Mode (see “Jog Mode” on page 23).

3. Place the installation/removal mat (Fig. 22) on the inspection surface (Fig. 40).

4. Place and hold the crawler on the installation/removal mat (Fig. 41).

NOTE: Do NOT release crawler when placed on the installation/removal mat.

5. Ensure all four wheels of the crawler

are held rmly against the installation/ removal mat. While holding the crawler, use the Fwd/Rev joystick

(Fig. 42) to carefully drive the crawler (Fig. 43) off the installation/removal

mat and onto the inspection surface

(Fig. 44).

Fig. 40 - Place installation/removal mat Fig. 41 - Lower crawler to mat

WARNING! MAGNETIC MATERIAL. The

installation/removal mat contains magnetic material. Those with pacemakers or ICD’s must stay at least 10 cm (4 in) away.

Fig. 42 - Drive the crawler Fig. 43 - Drive crawler off the mat

Fig. 44 - Magnetized to surface

PAGE 21

DN0047 Rev 04.2

TIP: Avoid the crawler slamming to the inspection surface. This can occur when all

four wheels are not in contact with the installation/removal mat while the crawler is driven onto the inspection surface.

6. Remove the installation/removal mat from the inspection surface.

TIP: Circumstance may arise when only one person is available for placement of

the crawler on a inspection surface. With the system power off, it is possible to place the crawler on the inspection/removal mat and manually push the crawler off the mat and onto the inspection surface.

4.3. Operation

4.3.1. Handheld Controller Layout

BOM ID Description

1 Raster Joystick 2 Fwd/Rev Joystick 3 Click Wheel 4 Controller Cable Connector 5 Touchscreen

Fig. 45 - Handheld controller

PAGE 22

4.3.1.1 Touchscreen

The handheld controller touchscreen (Fig. 45-5) is the primary operator interface for the system. Buttons are indicated on-screen with a 3D border (Fig. 46).

4.3.1.2 Click Wheel

The click wheel (Fig. 45-3) provides a redundant system control that may be utilized in lieu of the touchscreen. A blinking box around a button indicates the click wheel selection. Rotating the click wheel selects different buttons on-screen. Press the click wheel to choose the button currently selected.

4.3.1.3 Joysticks

The joysticks are used to control the system. The left joystick (Fig. 45-2) controls the forward/reverse movement of the crawler. The right joystick (Fig. 45-1) controls raster arm movement.

4.3.2. Main Mode Selection Screen

The Mode Select screen offers four modes of operation for the system:

►

Jog Mode (see “Jog Mode” on page 23)

►

Latched Jog Mode (see “Latched Jog Mode” on page 25)

►

Two Axis Scan* (see “Two Axis Scan Mode” on page 25)

►

System Utilities (see “System Utilities Screen” on page 30)

*Only appears when a raster arm is detected/present.

Diagnostics

ExitNEXTPREV

RightDrv

Status Reg:

Net Status:

Last Error:

Status Word:

Current mA:

Temperature:

01002690 05000000 00118130

1217

Fig. 46 - Sample touchscreen buttons

Mode Select

Jog

Latched Jog

System Utilities

Two Axis Scan

Fig. 47 - Mode select

PAGE 23

DN0047 Rev 04.2

4.3.3. Jog Mode

Jog mode manually controls the system movement using the joysticks.

NOTE: Jog mode is the default selection when the system is rst activated.

When a raster arm is connected (see “Backpack” on page 43), both the crawler and raster information is displayed (Fig. 48). When a raster arm is not connected, only the crawler information is displayed (Fig. 49).

Scan/Rapid Button: (Fig. 50-1) Used to quickly switch between crawler speeds. The speed in either mode can be manually set to the users preference. Raster arm movement is disabled in rapid mode.

TIP: Fine adjustments of speed can be made in the User Settings (see “User

Settings Screen” on page 30).

Zero Button: (Fig. 50-2) Sets the current position to zero for all modules.

Jog Mode

SCAN

Crawler Raster

0mm 0mm

76mm/s 92mm/s

Zero

Exit

Fig. 48 - Jog mode with raster arm

Jog Mode

SCAN

Exit

0mm

Crawler

76mm/s

Zero

Fig. 49 - Jog mode

Jog Mode

SCAN

Crawler Raster

0mm 0mm

76mm/s 92mm/s

Zero

Exit

113 3

4 4

2 1

Fig. 50 - Button identication

PAGE 24

Module Position Button(s): (Fig. 50-3) Displays the current position of the crawler and the raster arm. Press to set the position to any value using the Edit screen. When a module position is modied, the position will be modied for all other system modes.

NOTE: This function only zeroes the number displayed on the SKOOT handheld

controller. It does not zero the position used in the data acquisition instrument.

Module Rate Button(s): (Fig. 50-4) Displays the current maximum rate for the selected speed mode. Press to set the maximum rate using the Edit screen. The movement commanded by the joysticks will be limited to the indicated

rate. When a rate is modied, the rate will be modied for all other system

modes.

Exit Button: (Fig. 50-5) Exits the jog mode and returns to the Mode Select screen.

PAGE 25

DN0047 Rev 04.2

4.3.4. Latched Jog Mode

Identical to standard jog mode, latched jog mode adds forward or reverse crawler movement at the selected scan rate. This eliminates the need to manually hold the left joystick (see “Jog Mode” on page 23).

FWD & REV Buttons: The FWD and REV buttons are located in the crawler tab. Press the FWD or REV button to drive the crawler at the current maximum scan rate. When the crawler is in motion, the raster joystick is still enabled. Touching the controller screen or pressing the click wheel stops crawler movement.

NOTE: The FWD & REV Buttons will not be present in rapid mode.

4.3.5. Two Axis Scan Mode

The two axis scan mode allows scanning to be performed using the crawler as one axis of movement and a raster arm module as the second axis of movement.

NOTE: Two axis scan mode will not be available unless the raster arm module is

connected.

Jog Mode

Crawler Raster

0mm 0mm

76mm/s

REVFWD

92mm/s

Zero

Exit

SCAN

Screen or Knob to STOP

Fig. 51 - Latched Jog Mode

PAGE 26

4.3.5.1 Two Axis Scan Setup Screen

The Two Axis Scan Setup screen is used to program the desired scan pattern the system will use.

Point A – The current position of the crawler and index axis. The A position may

also be set while in the Jog Modes.

Point B – The start point of the scan grid. The system will move the scanner and

index axis from the A point to this point at the start of a scan.

Point C – The nish point of the scan grid.

Setting D – The distance the system will advance after each sweep.

TIP: Scan determines the crawler movement.

TIP: Index determines the raster arm movement.

The diagram (Fig. 52) indicates the scan functions that may be entered. Each point and setting, A,B,C,D, corresponds to a coordinate entry button on the right side of the screen.

A typical scan begins at the A position and moves to the B position. Scanning begins at the B position and scans using the increment distance D until the C position is reached.

The units of measurement used is displayed at the bottom left corner of the screen.

Path Button: A toggle between a horizontal

(Fig. 52) or vertical (Fig. 53) scan path.

Sp eed Button: Access the Scan Speed screen

(see “Scan Speeds Screen” on page 27).

Two Axis Scan Setup

IndexScan

Exit

0 0

127 127

254 254

RunSpeed

Path

Index

S c a n

- Two axis scan setup

Index

S c a n

Fig. 52 - Horizontal

IndexScan

Exit

0 0

127 127

254 254

Run

D Path

Index

S c a n

Fig. 53 - Vertical

PAGE 27

DN0047 Rev 04.2

Run Button: Initiates a check of the input values to ensure they are within the system capabilities. When a scan pattern is invalid or out of range points entered, a warning will be displayed (Fig. 54). Pressing OK returns to the Two Axis Scan Setup screen allowing correction of the error.

When no issues are detected, the Scan screen is enabled (see “Two

Axis Scan Screen” on page 28).

4.3.5.2 Scan Speeds Screen

Adjust speed settings for the two axis scan.

TIP: Scan speeds may be adjusted in the Jog Mode or User Settings

screens as well.

Edit Buttons: Allow adjustment to the corresponding axis speed.

Exit Button: Return to the Two Axis Scan Setup screen.

Index C Past

Max Raster Travel

Fig. 54 - Run button error

Scan Speeds

Scan 76mm/s

Index

92mm/s

Edit Edit

Exit

Fig. 55 - Scan speeds

PAGE 28

4.3.5.3 Two Axis Scan Screen

The Two Axis Scan screen initiates and monitors the two axis scan. The screen displays a visual representation of the scan area (Fig. 56-1). The small circle (Fig. 56-2) indicates the A position. The square

(Fig. 56-3) indicates the scan area described by the B and C posi-

tions. The blinking cross hair indicates the current scanner position

(Fig. 56-2).

The current position of the scan (Fig. 56-4) and index (Fig. 56-5) axis are displayed.

Start/Stop Button: (Fig. 56-6) Start or stop the scan sequence. When a scan has been stopped while in progress, the start button resumes the scan.

Reset Button: (Fig. 56-7) Return the scanner to the A position. Press the Start Button to begin the scan sequence from the initial setting.

Exit Button: (Fig. 56-8) Exit to the Two Axis Scan Setup screen.

Two Axis Scan Setup

Index

Scan

0mm

Exit

Start Reset

6 7 8

Fig. 56 - Two axis scan screen

Two Axis Scan

Index

Scan

71mm

49mm

Exit

Stop Reset

Fig. 57 - Scan path

PAGE 29

DN0047 Rev 04.2

During a scan, a graphical representation of the scanner path is displayed (Fig. 57).

When the scanner reaches the scan area, the graphic zooms to display that scan area. The scan path will be illustrated (Fig. 58) as the scan sequence takes place.

Pressing Exit stops all scanning and motion. If the scanner is not in the A position a warning appears (Fig. 59). The warning alerts that the A position of the scanner will be changed to the current position. Press Back to return to the Two Axis Scan screen to reset scan- ner and maintain original A position. Press Continue to reset the A position and exit to the Two Axis Scan Setup screen.

Two Axis Scan

Index

Scan

166mm

178mm

Exit

Stop Reset

Fig. 58 - Scan path close up

Two Axis Scan

Scan

88mm

Exit

Start Reset

Warning: Scanner position

has not been reset.

ContinueBack

Fig. 59 - Exit warning

PAGE 30

4.3.6. System Utilities Screen

The Utilities screen provides access to the setup, diagnostics and user preference settings.

User Settings Button: Access the User Settings screen allowing for various user preferences to be adjusted.

Diagnostics Button: Enters the Diagnostic screens which may be used to monitor system components and function.

Touch Cal Button: Used to initiate the Touch Calibration screen.

Joystick Cal Button: Used to enter the Joystick Calibration screen.

Draw Button: Enters mode used to test the touch screen accuracy

and response.

4.3.6.1 User Settings Screen

Allows user to customize the system to their preferences.

The blinking highlighted box indicates the current selection. Use the click knob or Up and Down buttons to select different settings.

Press Edit to enter the Edit screen to apply changes to the selected setting.

Utilities

ExitDraw Bounce

Touch Cal

Joystick Cal

Diagnostics

User Settings

Fig. 60 - Utilities screen

User Settings

ExitDownUpEdit

Units In=0/MM=1Units In=0/MM=1 Crawler Scan unit/s Crawler Rapid unit/s Raster Scan unit/s Raster Rapid unit/s

254

923

Fig. 61 - User settings screen

PAGE 31

DN0047 Rev 04.2

TITLE DESCRIPTION VALID

RANGE

DEFAULT

1 Units In=0/MM=1 Changes the measurement units for

display and user entry. When set to 0, units measure in inches. When set to 1, units measure in millimeters.

0-1 1

4 Crawler Scan

unit/s

Sets the crawler scan rate in the current units/second. This setting can also be changed through the Jog or Two Axis Scan Speed screens

5-142 mm/s

(0.2-5.6 in/s)

43 mm/s

(1.7 in/s)

5 Crawler Rapid

unit/s

Sets the crawler rapid rate in the current units/second. This setting can also be changed through the Jog screen.

5-142 mm/s

(0.2-5.6 in/s)

142 mm/s

(5.6 in/s)

6 Raster Scan

unit/s

Sets the raster arm scan rate in the current units/second. This setting can also be changed through the Jog or Two Axis Scan Speed screens.

5-762 mm/s

(0.2-30 in/s)

76 mm/s

(3.0 in/s)

7 Raster Rapid

unit/s

Sets the raster arm rapid rate in the current units/second. This setting can also be changed through the Jog screen.

5-762 mm/s

(0.2-30 in/s)

762 mm/s

(30.0 in/s)

8 *Raster Flip 0/1 Set raster arm orientation. When the

raster arm is mounted with the motor housing to the left of the crawler, the appropriate setting is 1. When the raster arm is mounted with the motor housing to the right of the crawler, the appropriate setting is 0. When this setting is changed, the system must be rebooted.

0-1 1

4.3.6.2 Diagnostics Screens

Several diagnostic screens allow various system functions to be monitored. Navigate to different diagnostic screens using the PREV and NEXT buttons. The Exit button returns to the System Utilities screen.

NOTE: The diagnostic information requires an in depth understanding of

the underlying technologies and programming in the system. Not all functions and information is explained in this manual.

PAGE 32

4.3.6.2.1. Detected Modules

Screen indicates the system software version and displays which modules were detected when the system was activated.

4.3.6.2.2. System 1

System 1 diagnostic screen displays general system function information.

POWERONTIME – The total accumulative time the handheld controller has been

powered.

JOYSTICKS – Indicates the raw position reading from the joysticks.

TOUCHSCREEN – Indicates the raw position reading from the last touchscreen

contact.

Diagnostics

Detected Modules

Skoot-L

Raster600

ExitNEXT

Fig. 62 - Detected modules screen

Diagnostics

Exit

System 1

PowerOnTime:

Reset Cause:

ResetInt:

EEpromCheck:

Joysticks:

Touchscreen:

55:48:42

0 0 0

-6

3486

2683

NEXTPREV

Fig. 63 - Diagnostic screen

PAGE 33

DN0047 Rev 04.2

4.3.6.2.3. System 2

Additional general system function information is displayed within the System 2 screen. An empty button is provided to allow testing of the click wheel.

FREE TIMER – Value from a free running system timer. If this timer is static, an

internal controller issue is present.

SCROLLWHEEL – Counter indicating the rotary position of the click wheel.

SCROLLBUTTON – Indicates the status of pressing the click wheel.

4.3.6.2.4. System 3

The System 3 Diagnostic screen displays additional system information. The information provided does not typically assist the user.

Diagnostics

ExitNEXTPREV

System 2

Free Timer:

Heart Timer:

Scrollwheel:

Scrollbutton:

5568

595

0 0

Port B: 1010000000000000

Port D: 1100110000011110

Fig. 64 - Diagnostic screen

Diagnostics

ExitNEXTPREV

System 3

IntAddr:

IFS0:

IFC0:

IPC0:

Timer:

0000 0100100000000000 1000000000001000

5444 6444

2837

Fig. 65 - Diagnostic screen

PAGE 34

4.3.6.2.5. Skoot-L, Raster

The Skoot-L diagnostic screen provides information regarding the status of the crawler. A separate screen is available for each module detected upon system startup.

CURRENT mA – Displays the output of the crawler to the motor. The current (mA)

displayed is directly proportional to the motor’s output torque. This reading can be used to check if the control system is responding to forces on the modules motor.

TEMPERATURE – Internal temperature reading of the crawler in degrees Celsius.

AUXENCPOS – Displays the position of the auxiliary encoder in counts when

connected to the module. When the auxiliary encoder is moved, this number will change. When the encoder is moved from its current position and then back to that exact same position, this number will also return to its original position.

ENCPOS – The position of the modules motor encoder in counts.

Diagnostics

ExitNEXTPREV

Skoot-L

Status Reg:

Net Status:

Last Error:

Status Word:

Current mA:

Temperature:

01002690 05000000 00118130

1217

Fig. 66 - Diagnostic screen

Diagnostics

ExitNEXTPREV

Ena StepDis

Skoot-L

AuxEncPos:

EncPos:

Stator:

Commutation:

Motor Stat:

255

00000000

Fig. 67 - Diagnostic screen

PAGE 35

DN0047 Rev 04.2

4.3.6.3 Touch Calibration Screen

This option allows calibration of the touch screen. Typically, this should not be necessary.

Touch the screen as the markers appear in the four corners of the screen.

TIP: It is recommended that the markers be touched with a small object to

enhance the touch position accuracy during calibration.

The new calibration is stored immediately when the fourth marker is pressed. The calibration utility exits and return to the System Utilities screen. To abort the calibration, the system power may be turned off before the last marker is pressed.

4.3.6.4 Joystick Calibration Screen

Typically joystick calibration is only necessary when a joystick off center error is detected upon startup (Fig. 69). Calibration may also be used when a joystick function does not appear to be properly centred.

Fig. 68 - Touch calibration screen

Left Joystick off Center

and Will be Disabled.

Fig. 69 - Joystick error

PAGE 36

Current readings of the joysticks are displayed in the Joystick Calibration screen (Fig. 70). When the numbers are not near zero, press the Calibrate button to recalibrate to 0. The new calibration is stored when the Exit button is pressed.

4.3.6.5 Draw

The draw utility may be used to test the function of the touchscreen. Exit the utility by pressing the click wheel.

Joystick Calibration

Exit

Calibrate

Left:

Right:

-5

Fig. 70 - Joystick calibration screen

Fig. 71 - Draw utility

PAGE 37

DN0047 Rev 04.2

CHAPTER 5

SYSTEM COMPONENTS

5.1. Handheld Controller

The handheld controller is used to manipulate a scanner installed on an inspection surface. User settings and scan information are edited using the handheld controller. The handheld controller is connected to the power controller with the controller cable (Fig. 19).

The handheld controller contains the complete system program and must be connected for the system to operate. When a software upgrade is necessary, the handheld controller is the only component required.

The handheld controller is not watertight and is not intended to be used in extremely wet environments. The handheld controller utilizes a resistive touch screen, care should be taken to not use sharp or gritty objects on the screen as the touch membrane can scratch. If the screen is damaged, all programmed functions can still be accessed using the click wheel.

NOTE: Do NOT connect the handheld controller while system activated.

Fig. 72 - Handheld controller

CAUTION! Do not disconnect under load.

Shut off power before connection or disconnecting. Permanent damage to electronics could occur.

PAGE 38

5.2. Crawler

The crawler includes the motor encoder, umbilical connections and accessory mounting point.

WARNING! MAGNETIC MATERIAL. The

wheels of the crawler produce an extremely strong magnetic eld which may cause failure or permanent damage to items such as watches, memory devices, CRT monitors, medical devices or other electronics. People with pacemakers or ICD’s must stay at least 25 cm (10 in) away.

Fig. 73 - Crawler

PAGE 39

DN0047 Rev 04.2

5.2.1. Swivel Mount

Located at the front of the crawler, the swivel mount is used to connect scanning accessories such as a raster arm module, probe frame system or corrosion thickness probe holder.

Rotate the two black wing knobs (Fig. 74) to loosen the dovetail jaws. Slide the accessory’s frame bar along the dovetail jaws. Rotate the two black wing knobs to clamp the frame system/raster arm in place.

Alternatively, accessories can also be mounted straight to the swivel mount. Rotate the black wing knobs aligning the dovetail jaws with the mount’s grooves (Fig. 76). Press the frame bar or accessory to the swivel mount

(Fig. 77) and tighten the black wing knobs.

The front mount utilizes two levers

(Fig. 75) to lock the front mount at

the desired angle.

TIP: Alternate mounting procedure

is possible (see Swivel Mount on page 39 for additional details).

The etched line (Fig. 78) near the base of the swivel mount can be used to align the front swivel mount to a horizontal position.

Fig. 74 - Frame bar installation Fig. 75 - Swivel mount angle

Fig. 76 - Align dovetail jaws Fig. 77 - Mount frame bar

Fig. 78 - Return mount to horizontal position

PAGE 40

NOTE: The front mount must be horizontal when using the pivoting probe holder

frame to scan longitudinally on piping.

5.2.2. Umbilical

To mount the umbilical to the crawler, follow these steps:

1. Align the pins of the umbilical to the connector at the rear of the SKOOT

(Fig. 79).

2. Twist the umbilical’s sleeve clockwise locking the umbilical in place.

(Fig. 80).

5.2.3. Handle

The handle can be lowered to achieve low prole scanning.

Fig. 79 - Connect to umbilical Fig. 80 - Align with crawler’s umbilical mount

Fig. 81 - Unscrew handle lock screw

PAGE 41

DN0047 Rev 04.2

1. To lower the handle, use the supplied 3 mm driver to loosen the handle

lock screws on either side of the handle (Fig. 81).

2. Pivot the handle as required (Fig. 83).

3. Tighten the handle lock screws when complete (Fig. 82).

5.2.4. Emergency Off Button

The red button located on the top left of the crawler provides an emergency off button to the entire system. When pressed, all power to the SKOOT system will disengage.

To restore system power, it is necessary to press the green power button located on the power controller

(see Power Controller on page 68 for additional details).

NOTE: Terminating system power may cause the crawler to freewheel down when

operating in a vertical orientation.

5.2.5. Cable Retainer

Located at the on the side of the crawler, the cable retainer offers a means of cable management for cables, hoses and tubes. Gently apply pressure to the grooves of the cable retainer and lift (Fig. 85). Route cables, hoses or tubes through the retainer and then press the cable retainer down (Fig. 86).

Fig. 82 - Tighten lock screws

Fig. 83 - Pivot handle as desired

Fig. 84 - Emergency off

Fig. 85 - Lift retainer by hand

Fig. 86 - Place cables and hoses then close retainer

PAGE 42

5.2.6. Manipulation Handle

The manipulation handle (Fig. 87) provides a means of orienting the scanner direction. The handle can be used to set initial scanner direction as well as occasional orientation correction. The manipulation handle is not intended as a tool for constant adjustment during a scan operation.

The handle may be removed when additional scanner clearance is required.

NOTE: Do not use the manipulation handle to remove or install a crawler from a

scan surface without the installation/removal mat in place.

Fig. 87 - Manipulation handle

PAGE 43

DN0047 Rev 04.2

5.3. Backpack

The SKOOT backpack provides a mounting point for scanning peripherals. The

exible strap securely holds any pre-amp, splitters or scan accessories to the

SKOOT crawler.

5.3.1. Mounting a Backpack

To mount the backpack, follow these steps.

1. Angle the backpack

(Fig. 88) towards the

notches on found on the SKOOT (located near the

base of the handle).

2. Place the front of the

backpack into the notches fount near the base of the handle

(Fig. 89).

3. Lower the backpack to

the Skoot and tighten the thumb screws to secure the backpack (Fig. 90).

Fig. 88 - Angle backpack

Fig. 89 - Fit backpack into notches

Fig. 90 - Tighten thumb screws

PAGE 44

5.3.2. Using the backpack

The exible strap of the backpack stretches to hold various scanning

accessories to crawler.

1. Press the strap’s lever down (Fig. 91-1) and then pull (Fig. 91-2) to release

the exible strap.

2. Place the scanning accessory on the backpack. Pull the strap lever

across the accessory and t the lever into place on the backpack (Fig. 92).

Fig. 91 - Press lever down and pull to release

Fig. 92 - Press lever into backpack to lock in place

PAGE 45

DN0047 Rev 04.2

5.4. Raster Arm Module

The motorized raster arm adds two axis automated scan capabilities to the SKOOT.

The raster arm can carry many different probes for various types of corrosion scans, including conventional 0° transducers, phased array probes (e.g. Olympus

HydroFORM™) and more. The SKOOT handheld controller is used to setup all the

parameters of the scan (see Two Axis Scan Mode on page 25 for additional details).

Fig. 93 - 600 mm raster arm module

PAGE 46

5.4.1. Mounting a Raster Arm

1. Loosen the two black wing knobs, slide the raster arm’s mounting rail onto

the dovetail jaws of the crawler (Fig. 94).

2. Tighten the two black wing knobs to secure the raster arm (Fig. 95).

Fig. 94 - Slide onto one swivel mount

Fig. 95 - Properly mounted raster arm

PAGE 47

DN0047 Rev 04.2

5.4.2. Attaching a Cable Tray

1. Attach the cable tray’s magnetic end to the magnetic base on the raster

arm. Ensure the four divots are aligned with notches on the magnetic end

(Fig. 96).

2. Press the cable tray bracket into the rear of the carriage bracket (Fig. 97).

Fig. 96 - Attaching the cable tray

Fig. 97 - Press bracket to carriage

PAGE 48

3. Slide the cable tray bracket until it locks in place (Fig. 98).

TIP: The cable tray can be ipped over and reversed to switch which side of

the raster arm the cable tray protrudes.

5.4.3. Using the Cable Tray

1. Using the supplied 3 mm at driver (Fig. 6), unclip the aps of the cable

tray (Fig. 99).

Fig. 98 - Slide bracket attaching to carriage

Fig. 99 - Unclip aps from cable tray

PAGE 49

DN0047 Rev 04.2

2. Route all hoses and cables into the cable tray. Clip the aps to trap the

cables in the cable tray (Fig. 100).

TIP: Cable routing can be made more convenient. Removal of several aps every

few inches can ease the cable routing process.

Fig. 100 - Route cabling and close aps

PAGE 50

5.4.4. Raster Arm Cable Setup

1. Plug the supplied raster

arm cable into the raster arm’s connector (Fig. 101) located on the raster arm encoder housing. Pinch the

cable into the rst cable

bracket on the side of the raster arm encoder housing.

CAUTION! Do not disconnect under load.

Shut off power before connection or disconnecting. Permanent damage to electronics could occur.

Fig. 101 - Raster arm cable routing

PAGE 51

DN0047 Rev 04.2

2. Route the cable through the adjustable clips on the raster arm (Fig. 102).

These clips slide along the raster arm allowing the raster arm cable to be positioned as required.

TIP: Do not tighten or loosen the clip screws. These clip screws have been

specially torqued by the manufacturer to allow for friction movement.

The clips have the ability to accommodate two cables when necessary to route excess cabling (Fig. 103).

Fig. 102 - Adjustable cable clips

Fig. 103 - Route cable through the clip twice

PAGE 52

5.5. Probe Holder Attachments

5.5.1. HydroFORM™ Probe Holder

Designed to function with the Olympus HydroForm™ scanner (not provided). To utilize this probe holder, follow these steps:

1. Rotate the probe holder adjustment knob (Fig. 104) and attach the probe

holder to a pivot mount of a raster arm or frame bar. Tighten the probe holder adjustment knob.

2. The probe holder arm adjustment knob can be rotated (Fig. 105), this al-

lows placement of the HydroFORM™ by positioning the probe holder arm accordingly.

3. Lift the probe holder slightly and pull the latch to release the probe

holder’s spring tension (Fig. 106).

5.5.2. Heavy Duty Vertical Probe Holder

Latch

Probe Holder Arm Adjustment Knob

Yoke

Probe Holder Arms

Pivot Buttons

Arm Clamp Screw

Probe Holder Adjustment Knob

Vertical Adjustment Knob

Fig. 104 - Attach probe holder Fig. 105 - Arm adjustment Fig. 106 - Lift and pull latch

Fig. 107 - Heavy duty vertical probe holder

PAGE 53

DN0047 Rev 04.2

5.5.2.1 Probe Holder Setup

1. Loosen the probe holder adjustment knob (Fig. 108) and mount the

heavy duty vertical probe holder’s dovetail jaw to the carrier.

2. The vertical adjustment knob (Fig. 109) allows the heavy duty

vertical probe holder’s height adjustment. This adjustment also controls the probe holders spring tension.

3. Loosen the probe holder adjustment knob and remove the outer

probe holder arm (Fig. 110).

4. Loosen the arm clamp screw (Fig. 111).

5. Place the wedge on the pivot button of the inner probe holder

arm (Fig. 111).

Fig. 108 - Mount probe holder to carrier Fig. 109 - Vertical adjustment

Fig. 110 - Remove outer arm

Fig. 111 - Adjust inner arm

PAGE 54

6. Align the middle of the wedge with the centre of the yoke (Fig. 112).

7. Tighten both the probe holder adjustment knob and the arm clamp

screw (Fig. 113) while ensuring the wedge remains centred with the yoke.

5.5.2.2 Probe Holder Vertical Adjustment

1. Gently lift the heavy duty vertical probe holder and simultaneously

pull the latch (Fig. 114). This action will unlock the probe holder. Slowly lower the probe holder towards the scan surface (Fig. 115).

Fig. 112 - Align probe with yoke Fig. 113 - Tighten knobs and screws

Fig. 114 - Press up and pull latch

Fig. 115 - Lowered toward scan surface

PAGE 55

DN0047 Rev 04.2

5.5.2.3 Probe Holder Left/Right Conversion

1. Using the supplied 3 mm driver, unscrew the yoke (Fig. 116).

2. Position the yoke and arms to the opposite side of the probe holder

(Fig. 117).

3. Loosen the arm clamp screw and the probe holder arm adjustment

knob allowing removal of the probe holder arms (Fig. 118).

4. Position the removed arms to the opposite sides of the yoke

(Fig. 119).

Fig. 116 - Remove yoke Fig. 117 - Orient to opposite side

Fig. 118 - Remove probe holder arms

Fig. 119 - Reverse position around yoke

Fig. 120 - Position pivot buttons

Fig. 121 - Place arms back onto yoke

PAGE 56

5. Position the pivot buttons to

the inside of the probe holder arms (Fig. 120).

6. Place the probe holder arms

on the yoke and tighten the arm clamp screw and probe holder adjustment knob

(Fig. 121).

7. Screw the yoke to the probe

holder (Fig. 122).

TIP: When using a standard

yoke length, position the yoke in the threaded hole closest to the frame bar. When using a long yoke length, position the yoke in the threaded hole furthest from the frame bar.

5.5.2.4 Probe Holder 90° Adjustment

1. Remove the yoke using the

supplied 3 mm hex driver

(Fig. 116).

2. Orient the yoke to the front of

the probe holder and screw the yoke into the threaded hole provided (Fig. 123).

Fig. 122 - Screw into threaded hole

Fig. 123 - 90° probe holder positioning

PAGE 57

DN0047 Rev 04.2

5.5.3. Corrosion Thickness Probe Holder

Follow these steps when using the corrosion thickness probe holder in conjunction with a raster arm.

1. The supplied cable clip (Fig. 124) is offered as a means of cable manage-

ment. Pinch the clip for removal and installation.

NOTE: It is necessary to remove the mounting bracket of the corrosion

thickness probe holder if attached.

2. Rotate the probe holder adjustment knob (Fig. 125).

3. If attached, remove the mounting bracket (Fig. 126).

4. Align the dovetail jaw of the corrosion thickness probe holder (Fig. 127)

and the pivot mount of the raster arm.

5. Tighten the probe holder adjustment knob (Fig. 128).

Fig. 124 - Cable clip Fig. 125 - Loosen knob Fig. 126 - Remove bracket

Fig. 127 - Attached to dovetail jaw

Fig. 128 - Tighten knob

PAGE 58

5.5.4. Two Probe Raster Arm

To mount 2 probe holders to the raster arm, follow these steps:

NOTE: Do not mount in excess of 2 probe holders to the front of the raster arm.

1. Remove the cable tray (see “Attaching a Cable Tray” on page 47).

2. Using the supplied 3 mm hex driver, remove the pivot nose of the raster

arm (Fig. 130).

3. Mount the (male) pivot nose (sold separately) to the raster arm (Fig. 131).

Fig. 129 - Raster arm with 2 probe holders

Fig. 130 - Remove pivot nose

Fig. 131 - Install (male) pivot nose

Fig. 132 - Mount frame bar Fig. 133 - Mount probe holders

PAGE 59

DN0047 Rev 04.2

4. Mount a frame bar to the pivot nose (Fig. 132).

5. Follow the steps (see “Probe Holder Setup” on page 71) to mount and

setup the vertical probe holders (Fig. 133).

5.5.5. Pivoting the Raster Arm

Adjust the raster arm pivot (Fig. 134) to align the raster arm parallel with the tangent of the scan surface (Fig. 135).

5.5.6. Pivot Nose

Release the pivot nose latch (Fig. 136) and angle the probe holder towards the inspection surface. Lower the probe holder to roughly 6 mm (¼ in) above the scan surface (Fig. 137), latch the pivot nose at this position.

Fig. 134 - Pivot raster arm Fig. 135 - Parallel with scan surface

Fig. 136 - Pivot raster arm

6 mm

approx.

Fig. 137 - Pivot raster arm

PAGE 60

5.5.7. Lowering Probe Holder to Scan Surface

Gently lift the probe holder (Fig. 138-1), the pull the probe holder latch

(Fig. 138-2) and lower the probe holder gently to the scan surface (Fig. 138-3).

5.5.8. Switching the Raster Arm Orientation

To switch the orientation of the raster arm, follow these steps:

NOTE: To complete this process, the raster arm

orientation must be set in user settings of the handheld controller. (see User Settings Screen on page 30 for additional details).

1. Remove the cable tray (see “Attaching a Cable

Tray” on page 47).

2. Loosen all the screws from the raster arm mounting rail (Fig. 139).

Fig. 138 - Remove pivot nose and carriage bracket

Fig. 139 - Remove raster arm mounting rail

PAGE 61

DN0047 Rev 04.2

3. Remove the mounting rail from the raster arm.

4. Remove the magnetic base from the raster arm (Fig. 140).

5. Unscrew the single pivot nose screw using the supplied 3 mm hex driver,

followed by removing the carriage bracket’s two screws (Fig. 141).

Fig. 140 - Remove magnetic base

Fig. 141 - Remove pivot nose and carriage bracket

WARNING! MAGNETIC MATERIAL. The

magnetic base of the raster arm cable tray contains magnetic material. People with pacemakers or ICD’s must stay at least 10 cm (4 in) away.

PAGE 62

6. Using a 2.5 mm hex tool, remove the socket head cap screw located at

the end of the raster arm in the cable clip grove (Fig. 142).

7. Slide the cable management clips from the raster arm (Fig. 143).

NOTE: Do not unscrew the clips from the raster arm as the screws have been

specically torqued to provide adequate sliding friction.

Fig. 142 - Remove screw

Fig. 143 - Slide cable clips from the raster arm

PAGE 63

DN0047 Rev 04.2

8. Rotate the orientation of the raster arm (Fig. 144).

9. Conrm the cable management clips are in proper orientation (Fig. 145).

10. Slide the cable management clips onto the raster arm (Fig. 146).

Fig. 144 - Slide cable clips from the raster arm

Fig. 145 - Ensure proper cable management clip orientation

Fig. 146 - Replace cable management clip

PAGE 64

11. Replace the socket cap head screw at the end of the raster arm (Fig. 147).

12. Attach the raster arm’s mounting rail below the cable management clips.

Align and tighten all the screws on the mounting rail (Fig. 148).

Fig. 147 - Replace socket head cap screw

Fig. 148 - Attach mounting rail

PAGE 65

DN0047 Rev 04.2

13. Align the screw for the cable tray’s magnetic base to the centre of the

raster arm. Tighten magnetic base screw (Fig. 149).

14. Attach the pivot nose to the raster arm carriage (Fig. 150).

Fig. 149 - Afx the magnetic base to the raster arm

Fig. 150 - Attach the pivot nose to the carriage

PAGE 66

15. Attach the carriage bracket to the raster arm carriage (Fig. 151).

16. Program the raster arm orientation using the handheld controller. (see

“System Utilities Screen” on page 30)

5.5.9. Raster Arm Cable

The raster arm cable connects the raster arm module to the crawler. The cable provides the power and network connections to the raster arm module as well as transmits the raster arm encoder signals to the instrument.

Both raster arm cable connectors are identical and interchangeable. Plug one end of the cable to the raster arm and the opposite end is connected to the crawler. The raster arm cable is connected to the auxiliary socket of the crawler (see “Raster Arm

Cable Setup” on page 50).

NOTE: Before use, inspect cable and connectors for damage. If any damage is evident,

the cable must NOT be used. Using damaged cables may be a safety hazard and could also put other system components at risk.

Fig. 151 - Attach the pivot nose to the carriage

Fig. 152 - Raster arm cable

PAGE 67

DN0047 Rev 04.2

5.6. Battery Powered Laser Guide

The battery powered laser guide provides a reference point useful for a aligning the SKOOT too a given path (i.e. a weld). The battery powered laser guide may be installed and setup as follows:

1. Loosen the laser guide

knob.

2. Mount the laser guide to

the frame bar, tighten the laser guide knob (Fig. 154).

Fig. 153 - Laser guide

WARNING! LASER RADIATION. Do not view

directly with optical instruments. Class 1M laser product.

Fig. 154 - Mount on frame bar

PAGE 68

3. Adjust the laser guide’s friction pivot

aiming the beam at the inspection surface (Fig. 155).

4. Loosen the laser guide knob to adjust

the side-to-side position as required. Retighten the laser guide knob.

NOTE: The battery powered laser

guide requires 1 AA battery for operation.

5.7. Power Controller

The SKOOT power controller converts power from a 100-240 VAC, 50/60Hz, 1.4A power source to 36VDC, 2.65A. A start/stop safety circuit and physical ON and OFF push-buttons are integrated into the supply.

►

Activate power to the SKOOT by pressing (and releasing) the green button

(Fig. 157-4).

►

The red stop button (Fig. 157-5) latches down when pressed, this stop button shuts down the system. Twist the stop button clockwise to return to the released position. This must be done before power can be activated.

►

The control cable is connects to the CTRL socket (Fig. 156-1).

Fig. 155 - Aim guide

Fig. 156 - Power controller

PAGE 69

DN0047 Rev 04.2

►

The encoder cable connects to the ENC socket (Fig. 156-2)

►

The status LCD screen (Fig. 157-6) displays the power controller system’s status.

►

Connect the umbilical to the umbilical connection (Fig. 157-7) located at the rear of power supply.

In the event of a break in the stop circuit (the stop circuit runs through the power

controller cable, umbilical and the crawler’s emergency stop button) power will shut off.

NOTE: Before use, always inspect the power cable and plug for damage. The power con-

troller should not be used if visible damage is present. Use of damaged components may be a safety hazard.

Only use the power controller with a properly grounded source. The safety of the power controller relies on the provision of a proper ground connection.

In environments with moisture present, a GFCI (Ground Fault Circuit Interrupter) must be used to ensure operator safety.

NOTE: Some generators or DC-AC inverters may introduce signicant levels of noise to

the system. This may degrade overall system performance or reduce the system life expectancy. Use of generators or DC-AC inverters is not recommended and are used at the operator’s risk.

The power connection (Fig. 156-3) of the power controller is used to connect the power controller to a suitable 90-270VAC, 45-65Hz grounded power source capable of supplying a minimum of 5 amps.

WARNING! There are no user serviceable

components inside the power controller. Dangerous voltages can be present inside the case. Do NOT open. Return to manufacturer for repair.

4 5

Fig. 157 - Power controller

PAGE 70

CAUTION! Do not disconnect under load.

Shut off power before connection or disconnecting. Permanent damage to electronics could occur.

5.8. Controller Cable

The controller cable

(Fig. 158) plugs into the

controller connector

(Fig. 156-1) located on

the power controller.

Power and network signals are used in the cable.

Both controller cable connectors are identical and interchangeable.

NOTE: Inspect the cable and connectors for damage before use. When any damage

is evident, the cable must NOT be utilized. Use of a damaged cable may be a safety hazard and could also put other system components at risk.

5.9. Encoder Cable

The encoder cable (Fig. 159) connects the SKOOT system to the user’s instrument. This cable allows transmission of necessary two axis position signals from the SKOOT system to the instrument. The encoder cable also provides 5VDC from the user’s instrument to the encoder isolation circuitry within the umbilical breakout housing.

The encoder cable plugs into the encoder connector (Fig. 156-2) of the power controller while plugging the opposite cable end to the instrument.

Different encoder cables are available for various instruments.

NOTE: Inspect the cable and connectors for damage before use. When damage is

evident, the cable must NOT be used.

Fig. 158 - Controller cable

Fig. 159 - Encoder cable

PAGE 71

DN0047 Rev 04.2

5.10. Vertical Probe Holder

Latch

Probe Holder Adjustment Knob

Vertical Adjustment Knob

Pivot Buttons

Probe Holder Arms

Yoke

Probe Holder Arm Adjustment Knob

Transverse Adjustment Screw

Frame Bar

5.10.1. Probe Holder Setup

1. The probe holder adjustment knob allows the probe holder to be attached

to a frame bar, as well as horizontal positioning on a frame bar (Fig. 161).

2. The vertical adjustment knob allows the vertical probe holder height

adjustment (Fig. 162).

3. Position the pivot buttons where necessary. When a narrow scanning foot-

print is required, use the pivot button holes closet to the yoke (Fig. 163).

TIP: Probe pivoting may be impeded when closer to the yoke.

Fig. 160 - Vertical probe holder

Fig. 161 - Adjust on frame bar Fig. 162 - Vertical adjustment Fig. 163 - Place buttons

PAGE 72

To mount a UT wedge in the probe holder, follow these steps:

4. Position the wedge on the inner probe holder arm (Fig. 164).

TIP: The probe holder yoke can accommodate many different probe and wedge

sizes of varying widths. It is best to centre the wedge with the yoke’s pivot axis. This can reduce wedge ‘rocking’ when scanning. Position the inner probe holder arm accordingly (Fig. 164) using the supplied 3 mm hex driver (Fig. 1).

5. Loosen the probe holder arm adjustment knob (Fig. 165) and slide the

probe holder arm along the yoke pinching the wedge in place.

6. Tighten the probe holder arm adjustment knob (Fig. 166).

5.10.2. Probe Holder Vertical Adjustment

To adjust the probe holder vertically, follow these steps:

1. Ensure the probe holder is in the latched, upper position. Lift the probe

Fig. 164 - Adjust inner arm

Fig. 165 - Adjust outer arm Fig. 166 - Tighten arm knob

Fig. 167 - Latch probe holder Fig. 168 - Lower toward scan surface

approx.

6mm

PAGE 73

DN0047 Rev 04.2

holder until the latch is fully exposed and snaps out to lock (Fig. 167).

2. Loosen the vertical adjustment knob and slide the probe holder down until

the wedge is approximately 6 mm (¼ in) above inspection surface.

3. Tighten the vertical adjustment knob (Fig. 168).

4. Lift the yoke slightly and press the latch button (Fig. 169), then slowly lower

towards scanning surface to apply spring pressure to the wedge (Fig. 170).

TIP: If less spring force is desired, refer to step 2 and place the wedge

approximately 20 mm (¾ in) above inspection surface.

5.10.3. Probe Holder Transverse Adjustment

To adjust the probe holder’s transverse angle, follow these steps:

1. Ensure the probe holder is in latched, upper position (Fig. 167).

Fig. 169 - Press latch button Fig. 170 - Lower toward scan surface

Fig. 171 - Loosen 3 mm screw Fig. 172 - Rotate and tighten Fig. 173 - Stop post locates 90°

PAGE 74

2. Using the supplied 3 mm hex driver loosen the transverse adjustment

screw (Fig. 171) and rotate the yoke about the vertical shaft achieving the desired angle.

3. Tighten the transverse adjustment screw (Fig. 172).

To return the transverse adjustment to neutral (90°). The probe holder must be in the latched, upper position (Fig. 167). Rotate the yoke until the stop post contacts the base of the probe holder (Fig. 173). Then tighten the transverse adjustment screw.

5.10.4. Probe Holder Longitudinal Adjustment

To adjust the probe holder’s vertical angle for longitudinal scanning, follow these steps:

1. Ensure the probe holder is in latched, upper position (Fig. 167).

2. Using the supplied 3 mm hex driver (Fig. 1), loosen the longitudinal adjust-

ment screw (Fig. 174).

3. Rotate the main body of the probe holder until it is at the desired angle

(Fig. 175).

4. Tighten the longitudinal adjustment screw (Fig. 175).

To return the longitudinal adjustment to neutral (90°). Line up the longitudinal adjustment indicator markers (Fig. 176).

Fig. 174 - Loosen 3 mm screw Fig. 175 - Rotate to position Fig. 176 - Line up markers

PAGE 75

DN0047 Rev 04.2

5.10.5. Probe Holder Left/Right Conversion

To reverse the probe holder, follow these steps:

NOTE: To perform this operation the 1.5 mm hex wrench (Fig. 3) is required.

1. Ensure the probe holder is in latched, upper position (Fig. 167).

2. Using the supplied 3 mm hex driver (Fig. 1), unscrew the yoke pivot screw

and remove yoke (Fig. 177).

3. Loosen the probe holder arm adjustment knob and the arm clamp screw.

Slide the probe holder arms off the yoke (Fig. 178).

4. Flip the yoke 180° and reverse the probe holder arms (Fig. 179).

5. Place the pivot buttons on the inside of the probe holder arms (Fig. 180)

using a 3/8 in wrench (Fig. 5).

Fig. 177 - Unscrew yoke pivot screw

Fig. 178 - Remove probe holder arms

Fig. 179 - Flip yoke and reverse arms

Fig. 180 - Attach arms & move buttons

PAGE 76

6. Mount the yoke to the opposite side of the base using the supplied 3 mm

hex driver (Fig. 181).

TIP: Keep the yoke level with the base as to ensure no conicts with the plunger/set

screw attached to the yoke.

7. Locate the recessed M3 screw on the bottom of the probe holder.

Unscrew the stop post using a 1.5 mm hex wrench until it has cleared all obstructions. Do not remove stop post (Fig. 182).

8. Raise the stop post on the opposite side until the side of the post clearly

contacts the 90° stop point on the probe holder’s base (Fig. 183).

Fig. 181 - Screw yoke to opposite side Fig. 182 - Lower 90° stop post

Fig. 183 - Raise opposite 90° stop post Fig. 184 - Reversed probe holder

PAGE 77

DN0047 Rev 04.2

5.11. Slip Joint Probe Holder

Frame Bar

Probe Holder Adjustment Knob

Latch

Swing Arm Knob

Yoke

Probe Holder Arm Adjustment Knob

Probe Holder Arm

Arm Clamp Screw

Pivot Buttons

5.11.1. Probe Holder Setup

To mount a UT wedge in the probe holder, follow these steps:

1. Rotate the probe holder adjustment knob and attach probe holder to a

frame bar (Fig. 186).

2. Use the probe holder adjustment knob to position the probe holder along

the frame bar (Fig. 187).

Fig. 185 - Slip Joint Probe Holder

Fig. 186 - Attach to frame bar

Fig. 187 - Adjust on frame bar

Fig. 188 - Adjust swing arm

Fig. 189 - Place pivot buttons

PAGE 78

3. Use swing arm knob to position the swing arm (Fig. 188).

TIP: The swing arm is typically used to adjust TOFD center to center distance

relative to the phased array probes on a four probe conguration.

4. Using the supplied 3/8 in wrench, place the pivot buttons (Fig. 189) farthest

from the yoke for maximum wedge clearance.

TIP: If narrow scanning footprint is required, use pivot button holes closest to the

yoke. Wedge pivoting may be impeded when closer to the yoke.

5. Loosen the probe holder arm adjustment knob (Fig. 190) and remove outer

probe holder arm from yoke.

6. Adjust inner probe holder arm as required to best centre the probe on the

yoke’s pivot axis (Fig. 190).

TIP: The probe holder yoke can accommodate many different probe and wedge

sizes of varying widths. It is best to centre the wedge with the yoke’s pivot axis to reduce wedge tipping when scanning. Position the inner probe holder arm accordingly with the centre of the yoke (Fig. 190).

7. Position the wedge on the inner

probe holder arm (Fig. 191).

8. Slide outer probe holder arm

along the yoke pinching the wedge in place.

9. Tighten probe holder arm adjust-

ment knob (Fig. 192).

Fig. 190 - Adjust probe holder arms

Fig. 191 - Place wedge

Fig. 192 - Pinch wedge with arm

PAGE 79

DN0047 Rev 04.2

5.11.2. Probe Holder Adjustment

To adjust the probe holder, follow these steps:

1. Ensure probe holder is in latched, upper position (Fig. 193). If the probe

holder is already latched, it will only move within the slip joint adjustment range and have no spring tension.

2. Push the probe holder yoke down toward inspection surface until the

wedge is approximately 6 mm (¼ in) above the inspection surface (Fig. 194).

3. Lift probe slightly and press latch button (Fig. 195) to apply spring pressure

to the wedge.

4. Gently lower probe holder and wedge to the scanning surface (Fig. 196).

5.11.3. Probe Holder Force Adjustment

It is possible to adjust the tension of the probe holder spring.

NOTE: To perform this operation the 2 mm hex wrench

(Fig. 8) and 3 mm hex wrench (Fig. 10) is required.

Light

1 kg 2 lb

Medium

2 kg 4 lb

Heavy

3 kg 6 lb

When congured correctly, these

settings exert the indicated spring force on the Probe.

Fig. 193 - Lift to Latched position

Fig. 194 - Lower to scanning surface

6mm approx.

Fig. 195 - Lift and press latch button

Fig. 196 - Spring loaded scan position

PAGE 80

To adjust the probe holder’s force, follow these steps:

NOTE: Do not perform this operation on scanning surface.

1. Ensure the probe holder is in the upright latched position (Fig. 193).

2. Lift probe holder slightly and press the latch button (Fig. 197) to release the

probe holder the full 45° degrees.

3. Insert the short arm of a 3 mm hex wrench into the 3 mm slot (Fig. 198).

4. Place the 2 mm hex wrench into the force adjustment screw (Fig. 199).

5. Lightly press the long arm of the 3 mm hex wrench down. Using the 2 mm

hex wrench, loosen the force adjustment screw but do not remove it

(Fig. 200).

6. Gently apply pressure on

the long leg of the 3 mm hex wrench until the force adjustment marker lines up with the desired spring tension. While keeping the markers in line, tighten the force adjustment screw.

Fig. 197 - Lift slightly and press Latch

Fig. 198 - Unlatched position

Fig. 199 - Insert hex tools Fig. 200 - Press 3 mm hex wrench down

Heavy

Medium

Light

Force Adj. Marker

Heavy

Medium

Light

Force Adj. Marker

Fig. 201 - Choose desired tension

PAGE 81

DN0047 Rev 04.2

5.11.4. Slip Joint Probe Holder Left/Right Conversion

To reverse the probe holder, follow these steps:

1. Unscrew the yoke from the swing arm (Fig. 202).

2. Loosen the probe holder arm adjustment knob and arm clamp screw.

Slide the arms from the yoke (Fig. 203).

3. Flip the yoke 180° and reverse the probe holder arms (Fig. 204).

4. Place the pivot buttons on the inside of the probe holder arms (Fig. 205)

using a 3/8 in wrench (Fig. 5). Slide the arms onto the yoke and tighten the probe holder arm adjustment knob and the arm clamp screw.

Fig. 202 - Unscrew yoke pivot screw Fig. 203 - Remove arms

Fig. 204 - Flip yoke and reverse arms Fig. 205 - Attach arms and move buttons

PAGE 82

5. Loosen the swing arm knob and slide the swing arm to the opposite end

of the probe holder bracket (Fig. 206) or preferred position. Tighten swing arm knob.

6. Using the 3 mm hex driver, screw the yoke pivot screw into the opposite

side of the probe holder swing arm (Fig. 207). Ensure the yoke is level to avoid issues with the plunger/set screw.

Fig. 206 - Position swing arm Fig. 207 - Install yoke to swing arm

Fig. 208 - Reversed probe holder

PAGE 83

DN0047 Rev 04.2

5.12. Low Prole Probe Holder Frame

The low prole frame adds weld scanning capability to the SKOOT motorized scanner. This frame can utilize (4) slip joint probe holders (2 Phased Array and

2 TOFD, typically). The low prole design of this frame allows for scanning on

diameters where radial clearance is limited.

5.12.1. Low Prole Probe Holder Frame Setup

1. Attach the wedges to the probe holders that are to be used (see Probe

Holder Setup on page 71 for additional details).

Fig. 209 - Low prole probe holder frame

Fig. 210 - Position primary and secondary probe holders

PAGE 84

2. Afx the probe holders (with attached wedges) to the low prole probe

holder frame. On the frame bar, place the secondary probe holders at the front (Fig. 210-2) and the primary probe holders at the rear (Fig. 210-1).

TIP: Due to their larger size, scan results are generally improved when pulling

or dragging phased array wedges.

3. Mount the low prole probe holder frame to the crawler (see Cable Retainer

on page 41 for additional details). When mounting the low prole frame,

ensure the attachment knobs (Fig. 210) are at the front (non crawler side).

4. Release the two swivel mount levers (Fig. 211) to position the swivel mount

parallel to the scan surface (Fig. 212). When alignment with scan surface is achieved, lock the crawler swivel mount levers.

5. Loosen the rear rotational adjustment knob to lower the front frame bar of

the low prole frame towards the inspection surface (Fig. 212).

Fig. 211 - Align swivel mount with scan surface

Fig. 212 - Set rear rotational adjustment knob

PAGE 85

DN0047 Rev 04.2

6. Loosen the front rotational adjustment knob (Fig. 213) to align the frame

bar parallel with the scan surface (Fig. 214).

7. Lower the probe holders to the

inspection surface.

(see “Probe Holder Adjustment” on page 79)

Fig. 213 - Align probe holder tangent with scan surface

Fig. 214 - Low prole probe holder frame

PAGE 86

5.13. Probe Holder Frame

The probe holder frame adds weld scanning capability to the SKOOT motorized scanner. This frame uses (4) vertical probe holders. Additional frame components allow up to eight probes to be used (contact Jireh Industries Ltd. on page iii).

Fig. 215 - Probe holder frame

PAGE 87

DN0047 Rev 04.2

5.13.1. Probe Holder Frame Setup

1. Attach the wedges to the probe holders that will be used (see Probe Holder

Setup on page 71 for additional details).

2. Afx the probe holders (with attached wedges) to the probe holder frame.

Place the secondary probe holder at the front of the frame (Fig. 216-1) and place the primary probe holders at the rear of the frame bar (Fig. 216-2).

TIP: Due to their larger size, scan results are generally improved when

pulling or dragging phased array wedges.

3. Mount the probe holder frame to the crawler (see Cable Retainer on page

41 for additional details). When mounting the probe holder frame, ensure

the attachment knobs (Fig. 217) are at the front (non crawler side).

Fig. 216 - Position primary and secondary probe holders

Fig. 217 - Align swivel mount with scan surface

PAGE 88

4. Release the two swivel mount levers (Fig. 217) to position the swivel

mount parallel to the scan surface (Fig. 218). When alignment with scan surface is achieved, lock the crawler swivel mount levers.

5. Loosen the rear rotational adjustment knob to lower the weld scan frame

towards the inspection surface (Fig. 218).

Fig. 218 - Set rear rotational adjustment knob

Fig. 219 - Set front rotational adjustment knob

PAGE 89

DN0047 Rev 04.2

6. Loosen the front rotational adjustment knob (Fig. 219) to align the TOFD

probe holders parallel with the scan surface (Fig. 220).

Fig. 220 - Align probes with the scan surface tangent

PAGE 90

5.14. Pivoting Probe Holder Frame

The pivoting probe holder frame utilizes vertical probe holders. The SKOOT can guide as many as 6 probes in the longitudinal direction.

NOTE: A minimum OD of 762 mm (30 in) is required for longitudinal scanning.

Fig. 221 - Pivoting Probe Holder Frame

PAGE 91

DN0047 Rev 04.2

5.14.1. Mounting a Pivoting Probe Holder Frame

1. If attached, use the 3 mm hex

driver to remove the probe holder pivot mount from the pivoting probe holder frame.

2. Attach the wedges that are to

be used with the probe holders

(see Probe Holder Setup on page 71 for additional details).

3. Afx the probe holders (with attached wedges) to the probe holder frame.

Place the secondary probe holders at the front of the frame (Fig. 223-1) while placing the primary probe holders at the rear of the frame system

(Fig. 223-2).

TIP: Phased array wedges are designed to be pulled along a scan surface.

4. Mount the pivoting probe holder frame to the crawler (see Swivel Mount on

page 39 for additional details).

Fig. 222 - Remove probe holder pivot mount

Fig. 223 - Connect frame to crawler’s swivel mount

Jireh Skoot User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual